execute_policy.hpp File Reference

#include <cstdint>
#include <future>
#include <memory>
#include <mutex>
#include <optional>
#include <stop_token>
#include <string>
#include <vector>
#include "Eigen/Dense"
#include "chunked_trajectory_executor/chunked_trajectory_executor.hpp"
#include "chunked_trajectory_executor/trajectory_chunk_validator.hpp"
#include "gripper_client/gripper_client.hpp"
#include "jtac_client/jtac_client.hpp"
#include "moveit_msgs/msg/planning_scene.hpp"
#include "moveit_pro_behavior_interface/async_behavior_base.hpp"
#include "moveit_pro_ml_msgs/srv/get_action_chunk.hpp"
#include "sensor_msgs/msg/image.hpp"
#include "sensor_msgs/msg/joint_state.hpp"
#include "std_msgs/msg/float64_multi_array.hpp"
#include "tl_expected/expected.hpp"
#include "trajectory_msgs/msg/joint_trajectory.hpp"

Include dependency graph for execute_policy.hpp:

This graph shows which files directly or indirectly include this file:

Classes
struct	moveit_pro::behaviors::ArmGripperChunk
struct	moveit_pro::behaviors::PolicyObservation
	The current observation a policy conditions on for one inference. More...
class	moveit_pro::behaviors::ObservationSourceInterface
	Supplies the current observation for one policy inference. More...
class	moveit_pro::behaviors::ActionChunkProducerInterface
	Runs one inference of a policy that produces trajectory chunks. More...
class	moveit_pro::behaviors::ExecutePolicy
	Executes a policy as continuous, self-collision-checked motion on the arm and optional gripper. More...
struct	moveit_pro::behaviors::ExecutePolicy::Deps
struct	moveit_pro::behaviors::ExecutePolicy::SceneAndState
	Planning scene snapshot plus the current positions of the commanded joints. More...

Namespaces
namespace	moveit_pro
namespace	moveit_pro::behaviors

Functions
tl::expected< Eigen::MatrixXd, std::string >	moveit_pro::behaviors::chunkMatrixFromJointTrajectory (const trajectory_msgs::msg::JointTrajectory &chunk, std::size_t num_dof)
	Reshape a policy chunk message into the column-per-step matrix the executor expects.
tl::expected< std::vector< double >, std::string >	moveit_pro::behaviors::orderedJointPositions (const sensor_msgs::msg::JointState &joint_state, const std::vector< std::string > &joint_names)
	Read the positions of the named joints out of a joint state, in the given order.
double	moveit_pro::behaviors::clampToPositionLimits (double position, bool position_bounded, double min_position, double max_position)
	Clamp a position command to a joint's position limits.
tl::expected< ArmGripperChunk, std::string >	moveit_pro::behaviors::splitArmAndGripperChunk (const trajectory_msgs::msg::JointTrajectory &chunk, const std::vector< std::string > &arm_joint_names)
	Split a policy chunk that carries a gripper into its arm joints and its single gripper joint.